Despite the comfort and safety that homes provide to humans, they are a hazardous environment for operating embedded sensors and controllers. In this paper, we present the design and implementation of Piloteur: a lightweight platform for robust pilot studies of sensing and control systems in the home. Upon installation, it provides end-to-end monitoring of system operation, it repairs problems whenever possible, and it alerts the operator of fatal problems that cannot be repaired. It performs these tasks while minimizing impact on software development time, long-term maintenance risks, and deployment cost. Piloteur is an open-source platform offered to the community that consolidates our experience and lessons learned from deploying hundreds of sensors and controllers in homes. In this paper, we present the design and implementation of Piloteur as well as our experiences using it to deploy over 180 endpoints across 45 different homes. Despite thousands of potentially fatal node failures, Piloteur automatically repaired nodes most of the time and only 26 physical maintenance visits were required over the course of 4 months.
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